# Coverage for pygeodesy/trf.py : 97%

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Classes L{RefFrame}, registry L{RefFrames} and L{TRFError}. Transcoded from I{Chris Veness'} (C) 2006-2022 JavaScript originals U{latlon-ellipsoidal-referenceframe.js<https://GitHub.com/ChrisVeness/geodesy/blob/master/ latlon-ellipsoidal-referenceframe.js>} and U{latlon-ellipsoidal-referenceframe-txparams.js <https://GitHub.com/ChrisVeness/geodesy/blob/master/latlon-ellipsoidal-referenceframe-txparams.js>}. Following is a copy of the comments in I{Veness}' U{latlon-ellipsoidal-referenceframe.js <https://GitHub.com/ChrisVeness/geodesy/blob/master/latlon-ellipsoidal-referenceframe.js>}. Modern geodetic reference frames: a latitude/longitude point defines a geographic location on, above or below the earth’s surface, measured in degrees from the equator and the U{International Reference Meridian<https://WikiPedia.org/wiki/IERS_Reference_Meridian>} (IRM) and metres above the ellipsoid within a given I{Terrestrial Reference Frame} at a given I{epoch}. This is scratching the surface of complexities involved in high precision geodesy, but may be of interest and/or value to those with less demanding requirements. More information U{here <https://www.Movable-Type.co.UK/scripts/geodesy-library.html>} and U{here <https://www.Movable-Type.co.UK/scripts/geodesy-library.html#latlon-ellipsoidal-referenceframe>}. Note that I{ITRF solutions} do not directly use an ellipsoid, but are specified by Cartesian coordinates. The GRS80 ellipsoid is recommended for transformations to geographical coordinates. Note WGS84(G730/G873/G1150) are coincident with ITRF at 10-centimetre level, see also U{here <ftp://ITRF.ENSG.IGN.Fr/pub/itrf/WGS84.TXT>}. WGS84(G1674) and ITRF20014 / ITRF2008 I{"are likely to agree at the centimeter level"}, see also U{QPS/Qinsy<https://Confluence.QPS.NL/qinsy/ en/how-to-deal-with-etrs89-datum-and-time-dependent-transformation-parameters-45353274.html>}. @var RefFrames.ETRF2000: RefFrame(name='ETRF2000', epoch=2005, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.GDA2020: RefFrame(name='GDA2020', epoch=2020, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.GDA94: RefFrame(name='GDA94', epoch=1994, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.ITRF2000: RefFrame(name='ITRF2000', epoch=1997, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.ITRF2005: RefFrame(name='ITRF2005', epoch=2000, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.ITRF2008: RefFrame(name='ITRF2008', epoch=2005, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.ITRF2014: RefFrame(name='ITRF2014', epoch=2010, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.ITRF90: RefFrame(name='ITRF90', epoch=1988, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.ITRF91: RefFrame(name='ITRF91', epoch=1988, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.ITRF93: RefFrame(name='ITRF93', epoch=1988, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.NAD83: RefFrame(name='NAD83', epoch=1997, ellipsoid=Ellipsoid(name='GRS80') @var RefFrames.WGS84: RefFrame(name='WGS84', epoch=1984, ellipsoid=Ellipsoid(name='WGS84') @var RefFrames.WGS84g1150: RefFrame(name='WGS84g1150', epoch=2001, ellipsoid=Ellipsoid(name='WGS84') @var RefFrames.WGS84g1674: RefFrame(name='WGS84g1674', epoch=2005, ellipsoid=Ellipsoid(name='WGS84') @var RefFrames.WGS84g1762: RefFrame(name='WGS84g1762', epoch=2005, ellipsoid=Ellipsoid(name='WGS84') ''' from pygeodesy.basics import map1, _xinstanceof, _zip from pygeodesy.constants import _float as _F, _0_0s, _0_0, _0_001, \ _0_01, _0_1, _0_26, _0_5, _N_0_5, _1_0 from pygeodesy.datums import _a_ellipsoid, Transform from pygeodesy.ellipsoids import Ellipsoids, Fmt, Property_RO from pygeodesy.errors import _ALL_LAZY, _IsnotError, TRFError from pygeodesy.interns import NN, _COMMASPACE_, _cartesian_, _conversion_, \ _ellipsoid_, _ellipsoidal_, _epoch_, _exists_, \ _GRS80_, _NAD83_, _name_, _no_, _s_, _SPACE_, \ _sx_, _sy_, _sz_, _to_, _tx_, _ty_, _tz_, _WGS84_ # from pygeodesy.lazily import _ALL_LAZY # from .errors from pygeodesy.named import classname, _lazyNamedEnumItem as _lazy, _NamedEnum, \ _NamedEnumItem, _NamedDict as _XD, _NamedTuple # from pygeodesy.props import Property_RO # from .ellipsoids # from pygeodesy.streprs import Fmt # from .ellipsoids from pygeodesy.units import Epoch, Float from math import ceil __all__ = _ALL_LAZY.trf __version__ = '22.10.07' _0_02 = 0.02 _0_06 = 0.06 _0_09 = 0.09 _0_12 = 0.12 _366_0 = 366.0 _Forward = _0_001 # mm2m, ppb2ppM, mas2as _Inverse = -_0_001 # same, inverse transforms _mas = _mm = _ppb = Float # as == arcseconds _mDays = (0, 31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 0) _N_0_06 = -_0_06 _N_0_1 = -_0_1 _ETRF2000_ = 'ETRF2000' _GDA2020_ = 'GDA2020' _GDA94_ = 'GDA94' _ITRF_ = 'ITRF' _ITRF88_ = 'ITRF88' _ITRF89_ = 'ITRF89' _ITRF90_ = 'ITRF90' _ITRF91_ = 'ITRF91' _ITRF92_ = 'ITRF92' _ITRF93_ = 'ITRF93' _ITRF94_ = 'ITRF94' _ITRF96_ = 'ITRF96' _ITRF97_ = 'ITRF97' _ITRF2000_ = 'ITRF2000' _ITRF2005_ = 'ITRF2005' _ITRF2008_ = 'ITRF2008' _ITRF2014_ = 'ITRF2014' _WGS84g1150_ = 'WGS84g1150' _WGS84g1674_ = 'WGS84g1674' _WGS84g1762_ = 'WGS84g1762' class Helmert7Tuple(_NamedTuple): '''7-Tuple C{(tx, ty, tz, s, sx, sy, sz)} of Helmert transform parameters with translations C{tx}, C{ty} and C{tz} in C{millimeter}, scale C{s} in C{ppb} and rotations C{sx}, C{sy} and C{sz} in C{milliarcseconds}. @see: L{Datum} L{Transform}. ''' _Names_ = (_tx_, _ty_, _tz_, _s_, _sx_, _sy_, _sz_) _Units_ = (_mm, _mm, _mm, _ppb, _mas, _mas, _mas) def __new__(cls, tx, ty, tz, s, sx, sy, sz, name=NN): '''New L{Helmert7Tuple}. ''' t = map1(_F, tx, ty, tz, s, sx, sy, sz) return _NamedTuple.__new__(cls, *t, name=name) class RefFrame(_NamedEnumItem): '''Terrestrial Reference Frame (TRF) parameters. ''' _ellipsoid = None # ellipsoid GRS80 or WGS84 (L{Ellipsoid} or L{Ellipsoid2}) _epoch = _0_0 # epoch, calendar year (L{Epoch} or C{float}) def __init__(self, epoch, ellipsoid, name=NN): '''New L{RefFrame}. @arg epoch: Epoch, a fractional calendar year (C{scalar} or C{str}). @arg ellipsoid: The ellipsoid (L{Ellipsoid}, L{Ellipsoid2}, L{Datum} or L{a_f2Tuple}). @kwarg name: Optional, unique name (C{str}). @raise NameError: A L{RefFrame} with that B{C{name}} already exists. @raise TRFError: Invalid B{C{epoch}}. @raise TypeError: Invalid B{C{ellipsoid}}. ''' self._ellipsoid = _a_ellipsoid(ellipsoid, name=name, raiser=_ellipsoid_) self._epoch = Epoch(epoch) self._register(RefFrames, name) def __matmul__(self, other): # PYCHOK Python 3.5+ '''Convert cartesian or ellipsoidal B{C{other}} to this reframe. @raise TypeError: Invalid B{C{other}}. ''' try: # only Cartesian- and LatLonEllipsoidalBase return other.toRefFrame(self) except AttributeError: pass raise _IsnotError(_cartesian_, _ellipsoidal_, other=other) @Property_RO def ellipsoid(self): '''Get this reference frame's ellipsoid (L{Ellipsoid} or L{Ellipsoid2}). ''' return self._ellipsoid @Property_RO def epoch(self): '''Get this reference frame's epoch (C{Epoch}). ''' return self._epoch def toStr(self, name=NN, **unused): # PYCHOK expected '''Return this reference frame as a text string. @kwarg name: Override name (C{str}) or C{None} to exclude the reframe's name. @return: This L{RefFrame}'s attributes (C{str}). ''' e = self.ellipsoid t = (Fmt.EQUAL(_name_, repr(name or self.name)), Fmt.EQUAL(_epoch_, self.epoch), Fmt.PAREN(Fmt.EQUAL(_ellipsoid_, classname(e)), Fmt.EQUAL(_name_, repr(e.name)))) return _COMMASPACE_.join(t[1:] if name is None else t) class RefFrames(_NamedEnum): '''(INTERNAL) L{RefFrame} registry, I{must} be a sub-class to accommodate the L{_LazyNamedEnumItem} properties. ''' def _Lazy(self, epoch, ellipsoid_name, name=NN): '''(INTERNAL) Instantiate the L{RefFrame}. ''' return RefFrame(epoch, Ellipsoids.get(ellipsoid_name), name=name) RefFrames = RefFrames(RefFrame) # PYCHOK singleton '''Some pre-defined L{RefFrame}s, all I{lazily} instantiated.''' # <https://GitHub.com/ChrisVeness/geodesy/blob/master/latlon-ellipsoidal-referenceframe.js> RefFrames._assert( ETRF2000 = _lazy(_ETRF2000_, _F(2005), _GRS80_), # ETRF2000(R08) GDA2020 = _lazy(_GDA2020_, _F(2020), _GRS80_), # Australia GDA94 = _lazy(_GDA94_, _F(1994), _GRS80_), # Australia ITRF2000 = _lazy(_ITRF2000_, _F(1997), _GRS80_), ITRF2005 = _lazy(_ITRF2005_, _F(2000), _GRS80_), ITRF2008 = _lazy(_ITRF2008_, _F(2005), _GRS80_), # aka ITRF08 ITRF2014 = _lazy(_ITRF2014_, _F(2010), _GRS80_), ITRF90 = _lazy(_ITRF90_, _F(1988), _GRS80_), ITRF91 = _lazy(_ITRF91_, _F(1988), _GRS80_), ITRF93 = _lazy(_ITRF93_, _F(1988), _GRS80_), NAD83 = _lazy(_NAD83_, _F(1997), _GRS80_), # CORS96 WGS84 = _lazy(_WGS84_, _F(1984), _WGS84_), WGS84g1150 = _lazy(_WGS84g1150_, _F(2001), _WGS84_), WGS84g1674 = _lazy(_WGS84g1674_, _F(2005), _WGS84_), WGS84g1762 = _lazy(_WGS84g1762_, _F(2005), _WGS84_)) # same epoch def date2epoch(year, month, day): '''Return the reference frame C{epoch} for a calendar day. @arg year: Year of the date (C{scalar}). @arg month: Month in the B{C{year}} (C{scalar}, 1..12). @arg day: Day in the B{C{month}} (C{scalar}, 1..31). @return: Epoch, the fractional year (C{float}). @raise TRFError: Invalid B{C{year}}, B{C{month}} or B{C{day}}. @note: Any B{C{year}} is considered a leap year, i.e. having 29 days in February. ''' try: y, m, d = map1(int, year, month, day) if y > 0 and 1 <= m <= 12 and 1 <= d <= _mDays[m]: return Epoch(y + float(sum(_mDays[:m]) + d) / _366_0, low=0) raise ValueError # _invalid_ except (TRFError, TypeError, ValueError) as x: raise TRFError(year=year, month=month, day=day, cause=x) def epoch2date(epoch): '''Return the date for a reference frame C{epoch}. @arg epoch: Fractional year (C{scalar}). @return: 3-Tuple C{(year, month, day)}. @raise TRFError: Invalid B{C{epoch}}. @note: Any B{C{year}} is considered a leap year, i.e. having 29 days in February. ''' e = Epoch(epoch, Error=TRFError, low=0) y = int(e) d = int(ceil(_366_0 * (e - y))) for m, n in enumerate(_mDays[1:]): if d > n: d -= n else: break return y, (m + 1), max(1, d) def _intermediate(n1, n2): '''(INTERNAL) Find a trf* "in between" C{n1} and C{n2}. ''' f1 = set(m for n, m in _trfXs.keys() if n == n1) # from trf1 t2 = set(n for n, m in _trfXs.keys() if m == n2) # to trf2 n = f1.intersection(t2) return n.pop() if n else NN def _reframeTransforms2(rf2, rf, epoch): '''(INTERNAL) Get 0, 1 or 2 Helmert L{Transform}s to convert reference frame B{C{rf}} observed at B{C{epoch}} into B{C{rf2}}. ''' e = rf.epoch if epoch is None else Epoch(epoch) n2 = rf2.name # .upper() n1 = rf.name # .upper() if n1 == n2 or (n1.startswith(_ITRF_) and n2.startswith(_WGS84_)) \ or (n2.startswith(_ITRF_) and n1.startswith(_WGS84_)): return e, () # PYCHOK returns if (n1, n2) in _trfXs: return e, (_2Transform((n1, n2), e, _Forward),) # PYCHOK returns if (n2, n1) in _trfXs: return e, (_2Transform((n2, n1), e, _Inverse),) # PYCHOK returns n = _intermediate(n1, n2) if n: return e, (_2Transform((n1, n), e, _Forward), # PYCHOK returns _2Transform((n, n2), e, _Forward)) n = _intermediate(n2, n1) if n: return e, (_2Transform((n, n1), e, _Inverse), # PYCHOK returns _2Transform((n2, n), e, _Inverse)) t = _SPACE_(RefFrame.__name__, repr(n1), _to_, repr(n2)) raise TRFError(_no_(_conversion_), txt=t) def _2Transform(n1_n2, epoch, _Forward_Inverse): '''(INTERNAL) Combine two Helmert transforms from TRF conversion C{_trfXs[n1_n2]} observed at B{C{epoch}} into a single datum L{Transform}. @note: Translations are converted from C{millimeter} to C{meter}, rotations from C{milliarcseconds} to C{arcseconds} and scale from C{ppb} to C{ppM}. ''' X = _trfXs[n1_n2] e = epoch - X.epoch # fractional delta years d = dict((n, (p + r * e) * _Forward_Inverse) for n, p, r in _zip(Helmert7Tuple._Names_, X.xform, X.rates)) # strict=True return Transform(**d) def trfXform(reframe1, reframe2, epoch=None, xform=None, rates=None): '''Define a new Terrestrial Reference Frame (TRF) conversion. @arg reframe1: Source reframe (L{RefFrame}), converting I{from}. @arg reframe2: Destination reframe (L{RefFrame}), converting I{to}. @kwarg epoch: Epoch, a fractional calendar year (C{scalar} or C{str}) or C{None} for C{B{reframe2}.epoch}. @kwarg xform: Helmert transform parameters (C{Helmert7Tuple}). @kwarg rates: Helmert rate parameters (C{Helmert7Tuple}). @raise TRFError: Invalid B{C{epoch}} or TRF conversion already exists. ''' _xinstanceof(RefFrame, reframe1=reframe1, reframe2=reframe2) e = reframe2.epoch if epoch is None else Epoch(epoch=epoch, Error=TRFError) _xinstanceof(Helmert7Tuple, xform=xform, rates=rates) _trfX(reframe1.name, reframe2.name, epoch=e, xform=xform, rates=rates) def _trfX(n1, n2, **epoch_xform_rates): '''(INTERNAL) New C{_trfXs} entry. ''' n1_n2 = n1, n2 if n1_n2 in _trfXs: raise TRFError(trfX=n1_n2, txt=_exists_) # _NameError _trfXs[n1_n2] = _XD(X=n1_n2, **epoch_xform_rates) _H = Helmert7Tuple _H_0_0s = _H(*_0_0s(len(_H._Names_))) # TRF conversions specified as an epoch and dual 7-parameter Helmert transforms. Most from U{Transformation # Parameters<http://ITRF.IGN.Fr/trans_para.php>}, more at U{Quinsy QPS<https://confluence.QPS.NL/qinsy/ # files/latest/en/182618383/182618384/1/1579182881000/ITRF_Transformation_Parameters.xlsx>}. See also # U{Quinsy International Terrestrial Reference Frame 2014 (ITRF2014)<https://confluence.QPS.NL/qinsy/ # latest/en/international-terrestrial-reference-frame-2014-itrf2014-182618383.html>}. _trfXs = dict() # key is [(from_TRF, to_TRF)] 2-tuple # see U{Transformation Parameters ITRF2014<http://ITRF.IGN.Fr/doc_ITRF/Transfo-ITRF2014_ITRFs.txt>} _trfX(_ITRF2014_, _ITRF2008_, epoch=_F(2010), # <http://ITRF.ENSG.IGN.Fr/ITRF_solutions/2014/tp_14-08.php> xform=_H( 1.6, 1.9, 2.4, -0.02, _0_0, _0_0, _0_0), rates=_H( _0_0, _0_0, _N_0_1, 0.03, _0_0, _0_0, _0_0)) _trfX(_ITRF2014_, _ITRF2005_, epoch=_F(2010), xform=_H( 2.6, _1_0, -2.3, 0.92, _0_0, _0_0, _0_0), rates=_H( 0.3, _0_0, _N_0_1, 0.03, _0_0, _0_0, _0_0)) _trfX(_ITRF2014_, _ITRF2000_, epoch=_F(2010), xform=_H( 0.7, 1.2, -26.1, 2.12, _0_0, _0_0, _0_0), rates=_H( _0_1, _0_1, -1.9, 0.11, _0_0, _0_0, _0_0)) _trfX(_ITRF2014_, _ITRF97_, epoch=_F(2010), xform=_H( 7.4, _N_0_5, -62.8, 3.8, _0_0, _0_0, _0_26), rates=_H( _0_1, _N_0_5, -3.3, _0_12, _0_0, _0_0, _0_02)) _trfX(_ITRF2014_, _ITRF96_, epoch=_F(2010), xform=_H( 7.4, _N_0_5, -62.8, 3.8, _0_0, _0_0, _0_26), rates=_H( _0_1, _N_0_5, -3.3, _0_12, _0_0, _0_0, _0_02)) _trfX(_ITRF2014_, _ITRF94_, epoch=_F(2010), xform=_H( 7.4, _N_0_5, -62.8, 3.8, _0_0, _0_0, _0_26), rates=_H( _0_1, _N_0_5, -3.3, _0_12, _0_0, _0_0, _0_02)) _trfX(_ITRF2014_, _ITRF93_, epoch=_F(2010), xform=_H( -50.4, 3.3, -60.2, 4.29, -2.81, -3.38, 0.4), rates=_H( -2.8, _N_0_1, -2.5, _0_12, -0.11, -0.19, 0.07)) _trfX(_ITRF2014_, _ITRF92_, epoch=_F(2010), xform=_H( 15.4, 1.5, -70.8, 3.09, _0_0, _0_0, _0_26), rates=_H( _0_1, _N_0_5, -3.3, _0_12, _0_0, _0_0, _0_02)) _trfX(_ITRF2014_, _ITRF91_, epoch=_F(2010), xform=_H( 27.4, 15.5, -76.8, 4.49, _0_0, _0_0, _0_26), rates=_H( _0_1, _N_0_5, -3.3, _0_12, _0_0, _0_0, _0_02)) _trfX(_ITRF2014_, _ITRF90_, epoch=_F(2010), xform=_H( 25.4, 11.5, -92.8, 4.79, _0_0, _0_0, _0_26), rates=_H( _0_1, _N_0_5, -3.3, _0_12, _0_0, _0_0, _0_02)) _trfX(_ITRF2014_, _ITRF89_, epoch=_F(2010), xform=_H( 30.4, 35.5, -130.8, 8.19, _0_0, _0_0, _0_26), rates=_H( _0_1, _N_0_5, -3.3, _0_12, _0_0, _0_0, _0_02)) _trfX(_ITRF2014_, _ITRF88_, epoch=_F(2010), xform=_H( 25.4, _N_0_5, -154.8, 11.29, _0_1, _0_0, _0_26), rates=_H( _0_1, _N_0_5, -3.3, _0_12, _0_0, _0_0, _0_02)) # see U{Transformation Parameters ITRF2008<http://ITRF.IGN.Fr/doc_ITRF/Transfo-ITRF2008_ITRFs.txt>} # _trfX(_ITRF2008_, _ITRF2005_, epoch=_F(2005), # <http://ITRF.ENSG.IGN.Fr/ITRF_solutions/2008/tp_08-05.php> # xform=_H(_N_0_5, s -0.9, -4.7, 0.94, _0_0, _0_0, _0_0), # rates=_H( 0.3, _0_0, _0_0, _0_0, _0_0, _0_0, _0_0)) _trfX(_ITRF2008_, _ITRF2005_, epoch=_F(2000), xform=_H( -2.0, -0.9, -4.7, 0.94, _0_0, _0_0, _0_0), rates=_H( 0.3, _0_0, _0_0, _0_0, _0_0, _0_0, _0_0)) _trfX(_ITRF2008_, _ITRF2000_, epoch=_F(2000), xform=_H( -1.9, -1.7, -10.5, 1.34, _0_0, _0_0, _0_0), rates=_H( _0_1, _0_1, -1.8, 0.08, _0_0, _0_0, _0_0)) _trfX(_ITRF2008_, _ITRF97_, epoch=_F(2000), xform=_H( 4.8, 2.6, -33.2, 2.92, _0_0, _0_0, _0_06), rates=_H( _0_1, _N_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2008_, _ITRF96_, epoch=_F(2000), xform=_H( 4.8, 2.6, -33.2, 2.92, _0_0, _0_0, _0_06), rates=_H( _0_1, _N_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2008_, _ITRF94_, epoch=_F(2000), xform=_H( 4.8, 2.6, -33.2, 2.92, _0_0, _0_0, _0_06), rates=_H( _0_1, _N_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2008_, _ITRF93_, epoch=_F(2000), xform=_H( -24.0, 2.4, -38.6, 3.41, -1.71, -1.48, -0.3), rates=_H( -2.8, _N_0_1, -2.4, _0_09, -0.11, -0.19, 0.07)) _trfX(_ITRF2008_, _ITRF92_, epoch=_F(2000), xform=_H( 12.8, 4.6, -41.2, 2.21, _0_0, _0_0, _0_06), rates=_H( _0_1, _N_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2008_, _ITRF91_, epoch=_F(2000), xform=_H( 24.8, 18.6, -47.2, 3.61, _0_0, _0_0, _0_06), rates=_H( _0_1, _N_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2008_, _ITRF90_, epoch=_F(2000), xform=_H( 22.8, 14.6, -63.2, 3.91, _0_0, _0_0, _0_06), rates=_H( _0_1, _N_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2008_, _ITRF89_, epoch=_F(2000), xform=_H( 27.8, 38.6, -101.2, 7.31, _0_0, _0_0, _0_06), rates=_H( _0_1, _N_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2008_, _ITRF88_, epoch=_F(2000), xform=_H( 22.8, 2.6, -125.2, 10.41, _0_1, _0_0, _0_06), rates=_H( _0_1, _N_0_5, -3.2, _0_09, _0_0, _0_0, _0_02)) _trfX(_ITRF2005_, _ITRF2000_, epoch=_F(2000), # <http://ITRF.ENSG.IGN.Fr/ITRF_solutions/2005/tp_05-00.php> xform=_H( _0_1, -0.8, -5.8, 0.4, _0_0, _0_0, _0_0), rates=_H( -0.2, _0_1, -1.8, 0.08, _0_0, _0_0, _0_0)) _trfX(_ITRF2000_, _ITRF97_, epoch=_F(1997), xform=_H( 0.67, 0.61, -1.85, 1.55, _0_0, _0_0, _0_0), rates=_H( _0_0, _N_0_06, -0.14, _0_01, _0_0, _0_0, _0_02)) _trfX(_ITRF2000_, _ITRF96_, epoch=_F(1997), xform=_H( 0.67, 0.61, -1.85, 1.55, _0_0, _0_0, _0_0), rates=_H( _0_0, _N_0_06, -0.14, _0_01, _0_0, _0_0, _0_02)) _trfX(_ITRF2000_, _ITRF94_, epoch=_F(1997), xform=_H( 0.67, 0.61, -1.85, 1.55, _0_0, _0_0, _0_0), rates=_H( _0_0, _N_0_06, -0.14, _0_01, _0_0, _0_0, _0_02)) _trfX(_ITRF2000_, _ITRF93_, epoch=_F(1988), xform=_H( 12.7, 6.5, -20.9, 1.95, -0.39, 0.8, -1.14), rates=_H( -2.9, -0.2, -0.6, _0_01, -0.11, -0.19, 0.07)) _trfX(_ITRF2000_, _ITRF92_, epoch=_F(1988), xform=_H( 1.47, 1.35, -1.39, 0.75, _0_0, _0_0, -0.18), rates=_H( _0_0, _N_0_06, -0.14, _0_01, _0_0, _0_0, _0_02)) _trfX(_ITRF2000_, _ITRF91_, epoch=_F(1988), xform=_H( 26.7, 27.5, -19.9, 2.15, _0_0, _0_0, -0.18), rates=_H( _0_0, -0.6, -1.4, _0_01, _0_0, _0_0, _0_02)) _trfX(_ITRF2000_, _ITRF90_, epoch=_F(1988), xform=_H( 2.47, 2.35, -3.59, 2.45, _0_0, _0_0, -0.18), rates=_H( _0_0, _N_0_06, -0.14, _0_01, _0_0, _0_0, _0_02)) _trfX(_ITRF2000_, _ITRF89_, epoch=_F(1988), xform=_H( 2.97, 4.75, -7.39, 5.85, _0_0, _0_0, -0.18), rates=_H( _0_0, _N_0_06, -0.14, _0_01, _0_0, _0_0, _0_02)) _trfX(_ITRF2000_, _ITRF88_, epoch=_F(1988), xform=_H( 2.47, 1.15, -9.79, 8.95, _0_1, _0_0, -0.18), rates=_H( _0_0, _N_0_06, -0.14, _0_01, _0_0, _0_0, _0_02)) # see U{Boucher, C. & Altamimi, Z. "Memo: Specifications for reference frame fixing in the # analysis of a EUREF GPS campaign" (2011) <https://ETRS89.ENSG.IGN.Fr/memo-V8.pdf>} and # Altamimi, Z. U{"Key results of ITRF2014 and implication to ETRS89 realization", EUREF2016 # <https://www.EUREF.EU/symposia/2016SanSebastian/01-02-Altamimi.pdf>}. _trfX(_ITRF2014_, _ETRF2000_, epoch=_F(2000), xform=_H( 53.7, 51.2, -55.1, 1.02, 0.891, 5.39, -8.712), rates=_H( _0_1, _0_1, -1.9, 0.11, 0.081, 0.49, -0.792)) _trfX(_ITRF2008_, _ETRF2000_, epoch=_F(2000), xform=_H( 52.1, 49.3, -58.5, 1.34, 0.891, 5.39, -8.712), rates=_H( _0_1, _0_1, -1.8, 0.08, 0.081, 0.49, -0.792)) _trfX(_ITRF2005_, _ETRF2000_, epoch=_F(2000), xform=_H( 54.1, 50.2, -53.8, 0.4, 0.891, 5.39, -8.712), rates=_H( -0.2, _0_1, -1.8, 0.08, 0.081, 0.49, -0.792)) _trfX(_ITRF2000_, _ETRF2000_, epoch=_F(2000), xform=_H( 54.0, 51.0, -48.0, _0_0, 0.891, 5.39, -8.712), rates=_H( _0_0, _0_0, _0_0, _0_0, 0.081, 0.49, -0.792)) # GDA2020 "Geocentric Datum of Australia 2020 Technical Manual", v1.5, 2020-12-09, Table 3.3 and 3.4 # <https://www.ICSM.gov.AU/sites/default/files/2020-12/GDA2020%20Technical%20Manual%20V1.5_4.pdf> # (the GDA2020 xforms are different but the rates are the same as GDA94, further below) _trfX(_ITRF2014_, _GDA2020_, epoch=_F(2020), xform=_H_0_0s, rates=_H( _0_0, _0_0, _0_0, _0_0, 1.50379, 1.18346, 1.20716)) _trfX(_ITRF2008_, _GDA2020_, epoch=_F(2020), xform=_H( 13.79, 4.55, 15.22, 2.5, 0.2808, 0.2677, -0.4638), rates=_H( 1.42, 1.34, 0.9, 0.109, 1.5461, 1.182, 1.1551)) _trfX(_ITRF2005_, _GDA2020_, epoch=_F(2020), xform=_H( 40.32, -33.85, -16.72, 4.286, -1.2893, -0.8492, -0.3342), rates=_H( 2.25, -0.62, -0.56, 0.294, -1.4707, -1.1443, -1.1701)) _trfX(_ITRF2000_, _GDA2020_, epoch=_F(2020), xform=_H(-105.52, 51.58, 231.68, 3.55, 4.2175, 6.3941, 0.8617), rates=_H( -4.66, 3.55, 11.24, 0.249, 1.7454, 1.4868, 1.224)) # see Table 2 in U{Dawson, J. & Woods, A. "ITRF to GDA94 coordinate transformations", Journal of Applied # Geodesy 4 (2010), 189-199<https://www.ResearchGate.net/publication/258401581_ITRF_to_GDA94_coordinate_transformations>} # (note, sign of rotations for GDA94 reversed as "Australia assumes rotation to be of coordinate axes", # rather than the more conventional "position around the coordinate axes") _trfX(_ITRF2008_, _GDA94_, epoch=_F(1994), xform=_H( -84.68, -19.42, 32.01, 9.71, -0.4254, 2.2578, 2.4015), rates=_H( 1.42, 1.34, 0.9, 0.109, 1.5461, 1.182, 1.1551)) _trfX(_ITRF2005_, _GDA94_, epoch=_F(1994), xform=_H( -79.73, -6.86, 38.03, 6.636, 0.0351, -2.1211, -2.1411), rates=_H( 2.25, -0.62, -0.56, 0.294, -1.4707, -1.1443, -1.1701)) _trfX(_ITRF2000_, _GDA94_, epoch=_F(1994), xform=_H( -45.91, -29.85, -20.37, 7.07, -1.6705, 0.4594, 1.9356), rates=_H( -4.66, 3.55, 11.24, 0.249, 1.7454, 1.4868, 1.224)) # see U{Solar, T. & Snay, R.A. "Transforming Positions and Velocities between the # International Terrestrial Reference Frame of 2000 and North American Datum of 1983" # (2004)<https://www.NGS.NOAA.gov/CORS/Articles/SolerSnayASCE.pdf>} _trfX(_ITRF2000_, _NAD83_, epoch=_F(1997), # note NAD83(CORS96) xform=_H( 995.6, -1901.3, -521.5, 0.615, -25.915, -9.426, -11.599), rates=_H( 0.7, -0.7, _0_5, -0.182, -0.06667, 0.75744, 0.05133)) # see U{Quinsy QPS<https://confluence.QPS.NL/qinsy/files/latest/en/182618383/182618384/1/1579182881000/ # ITRF_Transformation_Parameters.xlsx>}, sheets ITRF and NAD83 _trfX(_ITRF2008_, _NAD83_, epoch=_F(1997), xform=_H( 993.43, -1903.31, -526.55, 1.71504, -25.91467, -9.42645, -11.59935), rates=_H( 0.79, -0.6, -1.34, -0.10201, -0.06667, 0.75744, 0.05133)) _trfX(_ITRF2005_, _NAD83_, epoch=_F(1997), xform=_H( 996.3, -1902.4, -521.9, 0.775, -25.915, -9.426, -11.599), rates=_H( 0.5, -0.6, -1.3, -0.10201, -0.06667, 0.75744, 0.05133)) _trfX(_ITRF90_, _NAD83_, epoch=_F(1997), xform=_H( 973.0, -1919.2, -482.9, -0.9, -25.79, -9.65, -11.66), rates=_H( _0_0, _0_0, _0_0, _0_0, -0.053, 0.742, 0.032)) _trfX(_ITRF90_, _WGS84_, epoch=_F(1984), xform=_H( 60.0, -517.0, -223.0, -11.0, 18.3, -0.3, 7.0), rates=_H_0_0s) # del _H, _H_0_0s if __name__ == '__main__': from pygeodesy.interns import _COMMA_, _NL_, _NLATvar_, _STAR_ from time import localtime D = date2epoch.__name__ E = epoch2date.__name__ y = localtime()[0] for m in range(1, 13): for d in (1, 15, _mDays[m] - 1, _mDays[m]): f = '%s(%d,%3d,%3d)' % (D, y, m, d) e = date2epoch(y, m, d) t = epoch2date(e) x = NN if t == (y, m, d) else _STAR_ e = '%.3f' % (e,) e = '%s, %s(%s)' % (e, E, e) t = '%d,%3d,%3d' % t print('# %s = %s = %s %s' % (f, e, t, x)) # __doc__ of this file, force all into registery t = [NN] + RefFrames.toRepr(all=True).split(_NL_) print(_NLATvar_.join(i.strip(_COMMA_) for i in t)) # **) MIT License # # Copyright (C) 2016-2022 -- mrJean1 at Gmail -- All Rights Reserved. # # Permission is hereby granted, free of charge, to any person obtaining a # copy of this software and associated documentation files (the "Software"), # to deal in the Software without restriction, including without limitation # the rights to use, copy, modify, merge, publish, distribute, sublicense, # and/or sell copies of the Software, and to permit persons to whom the # Software is furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included # in all copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS # OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL # THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR # OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, # ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR # OTHER DEALINGS IN THE SOFTWARE. # % python -m pygeodesy.trf # # date2epoch(2022, 1, 1) = 2022.003, epoch2date(2022.003) = 2022, 1, 1 # date2epoch(2022, 1, 15) = 2022.041, epoch2date(2022.041) = 2022, 1, 15 # date2epoch(2022, 1, 30) = 2022.082, epoch2date(2022.082) = 2022, 1, 30 # date2epoch(2022, 1, 31) = 2022.085, epoch2date(2022.085) = 2022, 1, 31 # date2epoch(2022, 2, 1) = 2022.087, epoch2date(2022.087) = 2022, 2, 2 * # date2epoch(2022, 2, 15) = 2022.126, epoch2date(2022.126) = 2022, 2, 16 * # date2epoch(2022, 2, 28) = 2022.161, epoch2date(2022.161) = 2022, 2, 28 # date2epoch(2022, 2, 29) = 2022.164, epoch2date(2022.164) = 2022, 3, 1 * # date2epoch(2022, 3, 1) = 2022.167, epoch2date(2022.167) = 2022, 3, 2 * # date2epoch(2022, 3, 15) = 2022.205, epoch2date(2022.205) = 2022, 3, 16 * # date2epoch(2022, 3, 30) = 2022.246, epoch2date(2022.246) = 2022, 3, 31 * # date2epoch(2022, 3, 31) = 2022.249, epoch2date(2022.249) = 2022, 4, 1 * # date2epoch(2022, 4, 1) = 2022.251, epoch2date(2022.251) = 2022, 4, 1 # date2epoch(2022, 4, 15) = 2022.290, epoch2date(2022.290) = 2022, 4, 15 # date2epoch(2022, 4, 29) = 2022.328, epoch2date(2022.328) = 2022, 4, 29 # date2epoch(2022, 4, 30) = 2022.331, epoch2date(2022.331) = 2022, 4, 30 # date2epoch(2022, 5, 1) = 2022.333, epoch2date(2022.333) = 2022, 5, 1 # date2epoch(2022, 5, 15) = 2022.372, epoch2date(2022.372) = 2022, 5, 15 # date2epoch(2022, 5, 30) = 2022.413, epoch2date(2022.413) = 2022, 5, 30 # date2epoch(2022, 5, 31) = 2022.415, epoch2date(2022.415) = 2022, 6, 1 * # date2epoch(2022, 6, 1) = 2022.418, epoch2date(2022.418) = 2022, 6, 2 * # date2epoch(2022, 6, 15) = 2022.456, epoch2date(2022.456) = 2022, 6, 16 * # date2epoch(2022, 6, 29) = 2022.495, epoch2date(2022.495) = 2022, 6, 30 * # date2epoch(2022, 6, 30) = 2022.497, epoch2date(2022.497) = 2022, 7, 1 * # date2epoch(2022, 7, 1) = 2022.500, epoch2date(2022.500) = 2022, 7, 1 # date2epoch(2022, 7, 15) = 2022.538, epoch2date(2022.538) = 2022, 7, 16 * # date2epoch(2022, 7, 30) = 2022.579, epoch2date(2022.579) = 2022, 7, 30 # date2epoch(2022, 7, 31) = 2022.582, epoch2date(2022.582) = 2022, 7, 31 # date2epoch(2022, 8, 1) = 2022.585, epoch2date(2022.585) = 2022, 8, 1 # date2epoch(2022, 8, 15) = 2022.623, epoch2date(2022.623) = 2022, 8, 15 # date2epoch(2022, 8, 30) = 2022.664, epoch2date(2022.664) = 2022, 8, 31 * # date2epoch(2022, 8, 31) = 2022.667, epoch2date(2022.667) = 2022, 9, 1 * # date2epoch(2022, 9, 1) = 2022.669, epoch2date(2022.669) = 2022, 9, 2 * # date2epoch(2022, 9, 15) = 2022.708, epoch2date(2022.708) = 2022, 9, 16 * # date2epoch(2022, 9, 29) = 2022.746, epoch2date(2022.746) = 2022, 9, 30 * # date2epoch(2022, 9, 30) = 2022.749, epoch2date(2022.749) = 2022, 10, 1 * # date2epoch(2022, 10, 1) = 2022.751, epoch2date(2022.751) = 2022, 10, 1 # date2epoch(2022, 10, 15) = 2022.790, epoch2date(2022.790) = 2022, 10, 15 # date2epoch(2022, 10, 30) = 2022.831, epoch2date(2022.831) = 2022, 10, 30 # date2epoch(2022, 10, 31) = 2022.833, epoch2date(2022.833) = 2022, 10, 31 # date2epoch(2022, 11, 1) = 2022.836, epoch2date(2022.836) = 2022, 11, 1 # date2epoch(2022, 11, 15) = 2022.874, epoch2date(2022.874) = 2022, 11, 15 # date2epoch(2022, 11, 29) = 2022.913, epoch2date(2022.913) = 2022, 11, 29 # date2epoch(2022, 11, 30) = 2022.915, epoch2date(2022.915) = 2022, 12, 1 * # date2epoch(2022, 12, 1) = 2022.918, epoch2date(2022.918) = 2022, 12, 2 * # date2epoch(2022, 12, 15) = 2022.956, epoch2date(2022.956) = 2022, 12, 16 * # date2epoch(2022, 12, 30) = 2022.997, epoch2date(2022.997) = 2022, 12, 31 * # date2epoch(2022, 12, 31) = 2023.000, epoch2date(2023.000) = 2023, 1, 1 *